Open filipetrocadoferreira opened 8 years ago
In my opinion one of the causes can be:
In Detector::ComputeFreespace:
occ_map(pos_x, pos_z) += z;
Closer objects will have of course an heavy weight on the occupancy map and with the distance, even with small number of points, further objects will have a big weight, but maybe this will cause a gap between some distances as I see in my case.
I'm using Kinect 2:
and the config:
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Distance Range Accepted Detections
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distance_range_accepted_detections = 7 # up to what distance detections are kept. All detections after that distance are rejected
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ROI
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inc_width_ratio = -0.25 inc_height_ratio = -0.25 region_size_threshold = 20
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Freespace
======================
parameteters for occupancy Map computation
these parameter define the number of bins for the occupancy histogram
freespace_scaleZ = 20; freespace_scaleX = 20;
freespace_minX = -6;
freespace_minZ = 0;
freespace_maxX = 6;
freespace_maxZ = 7;
freespace_threshold = 500
freespace_max_depth_to_cons = 7
freespace_minX = -5; freespace_minZ = 0; freespace_maxX = 5; freespace_maxZ = 7; freespace_threshold = 170 freespace_max_depth_to_cons = 4.5
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Detector
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parameters upper body detector
evaluation_NMS_threshold_LM = 0.8 # lowering this parameter will reduce the number of false positives! Keep in mind this is distance! evaluation_inc_height_ratio = 0.3 # parameter for increasing the size of ROI which is then scanned by the depth template
<<< these parameters are only relevant if you want to perform multi-scaling, evaluation_nr_scales > 1
evaluation_stride = 3 evaluation_scale_stride = 1.03 evaluation_nr_scales = 1 evaluation_inc_cropped_height = 20 evaluation_greedy_NMS_overlap_threshold = 0.3 evaluation_greedy_NMS_threshold = 0.25
>>>
scanning corridor, which means for each ROI we scan it with the depth template starting from min_height (in meters) for up to max_height
max_height = 2.2 min_height = 1.4
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World scale
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WORLD_SCALE = 1.0
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height and width of images
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dImWidth = 320 dImHeight = 270
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Number of Frames / offset
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numberFrames = 1000000 nOffset = 0
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Size of Template
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template_size = 30